Diff: AR6210.h

Revision:

0:9a1f7660704d

Child:

1:25aad26619fb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AR6210.h	Wed Nov 20 10:26:54 2013 +0000
@@ -0,0 +1,57 @@
+#pragma once
+// Original code: https://mbed.org/users/BlazeX/code/AR8000/
+// Modified by Joram Querner for Spektrum AR6210
+
+// Interrupt callback
+#define AR6210_RISE_FALL(Ch)\
+void Rise##Ch()\
+{\
+    LastRise[Ch]= Time.read_us();\
+}\
+void Fall##Ch()\
+{\
+    int dT= Time.read_us() - LastRise[Ch];\
+    if(dT > 900 && dT < 2100)\
+         dTime[Ch]= dT;\
+}
+
+
+class AR6210
+{
+private:
+    InterruptIn ChInt0;
+    InterruptIn ChInt1;
+    InterruptIn ChInt2;
+    InterruptIn ChInt3;
+    InterruptIn ChInt4;
+    InterruptIn ChInt5;
+    
+    Timer Time;
+    volatile int LastRise[6];       //Zeitpunkt der letzten steigende Flanke  
+    volatile int dTime[6];          //Pulsdauer in us [1000...2000]
+    
+public:
+    int RawChannels[6]; //Rohdaten [1000...2000]
+    
+    //Die Steuerbefehle
+    float Throttle;     //0=Aus, 1=Vollgas
+    float Aileron;      //-1=Links, 0=Nichts, +1=Rechts
+    float Elevator;     //-1=Sinken, 0=Nichts, +1=Steigen
+    float Rudder;       //-1=Links, 0=Nichts, +1=Rechts
+    
+    float Gear;         //-1...+1 Left Trim
+    float Aux;         //-1...+1 Right Trim
+
+    //Initialisieren
+    AR6210();
+    void init();
+    void update();
+    
+    //Interrupt-Callbacks definieren
+    AR6210_RISE_FALL(0);
+    AR6210_RISE_FALL(1);
+    AR6210_RISE_FALL(2);
+    AR6210_RISE_FALL(3);
+    AR6210_RISE_FALL(4);
+    AR6210_RISE_FALL(5);  
+};
\ No newline at end of file